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Merged
maxgallup merged 13 commits into from
Mar 7, 2025
Merged

Feature/functionality #2

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c80da36
feat: local functionality
NielsD1 Feb 26, 2025
42f29bc
chore: added testign files
NielsD1 Feb 26, 2025
7d731aa
chore: changed most to snake_case, added requirements.txt
NielsD1 Feb 26, 2025
622c124
chore: updated README
NielsD1 Feb 26, 2025
da1a348
chore: added tooling and docs
maxgallup Feb 26, 2025
9a54cb0
chore: merge niels' branch
maxgallup Feb 26, 2025
0989abe
Merge pull request #1 from VU-ASE/feature/tooling
maxgallup Feb 26, 2025
8188584
chore: user accessible methods now always throw an error on failure
NielsD1 Feb 28, 2025
240d095
chore: moved testing.py out of package
NielsD1 Feb 28, 2025
1853691
chore: changed bootinfo back to original state
NielsD1 Mar 7, 2025
129bcda
chore: changed run and on_terminate to throw, rather than return an e…
NielsD1 Mar 7, 2025
1a88610
chore: errors in roverlib will now also log a message
NielsD1 Mar 7, 2025
fe2d939
chore: removed old.roverlib
NielsD1 Mar 7, 2025
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46 changes: 46 additions & 0 deletions .devcontainer/Dockerfile
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# Use Ubuntu 22.04 as the base image
FROM ubuntu:22.04

# Set environment variables to prevent interactive prompts
ARG DEBIAN_FRONTEND=noninteractive

# Update package list and install necessary tools and dependencies
RUN apt-get update && \
apt-get install -y \
sudo \
git \
curl \
gnupg \
make \
build-essential \
pkg-config \
libzmq3-dev \
libssl-dev \
zlib1g-dev \
libncurses5-dev \
libgdbm-dev \
libnss3-dev \
libsqlite3-dev \
libreadline-dev \
libffi-dev \
libbz2-dev



# Make a 'dev' user
RUN echo 'root:dev' | chpasswd
RUN useradd -ms /bin/bash dev && echo 'dev:dev' | chpasswd && adduser dev sudo
RUN echo 'dev ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers

COPY --chown=dev:dev .devcontainer/scripts/gu /usr/local/bin/gu
COPY --chown=dev:dev .devcontainer/scripts/.bashrc /home/dev/.bashrc

USER dev

# Install Python 3 using apt
RUN sudo apt-get install -y python3 python3-pip

# Install uv
RUN curl -LsSf https://astral.sh/uv/install.sh | sh


24 changes: 24 additions & 0 deletions .devcontainer/devcontainer.json
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{
"name": "ASE-roverlib-python-dev",
"build": {
"dockerfile": "./Dockerfile",
"context": "..",
"options": [
"--network=host"
]
},
"customizations": {
"vscode": {
"extensions": [
"tamasfe.even-better-toml", // TOML syntax support
"dbankier.vscode-quick-select", // Quick select with cmd/ctrl+k "
"charliermarsh.ruff"
]
}
},
"runArgs": [
"--network=host"
],
"remoteUser": "dev"
}

61 changes: 61 additions & 0 deletions .devcontainer/scripts/.bashrc
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# personalized PS1 prompt
PS1="\W \e[01;31m$\e[m "

# If not running interactively, don't do anything
case $- in
*i*) ;;
*) return;;
esac

# don't put duplicate lines or lines starting with space in the history.
# See bash(1) for more options
HISTCONTROL=ignoreboth

# append to the history file, don't overwrite it
shopt -s histappend

# for setting history length see HISTSIZE and HISTFILESIZE in bash(1)
HISTSIZE=1000
HISTFILESIZE=2000

# custom
alias python="python3"
alias l="ls -lah"
alias ..="cd .."

# git aliases
alias gs="git status"
alias gc="git commit -m "
alias ga="git add "
alias gp="git push"
alias gpl="git pull"
alias gl="git log --pretty=oneline"

# check the window size after each command and, if necessary
# update the values of LINES and COLUMNS.
shopt -s checkwinsize

# make less more friendly for non-text input files, see lesspipe(1)
[ -x /usr/bin/lesspipe ] && eval "$(SHELL=/bin/sh lesspipe)"


# Alias definitions in bash_aliases
if [ -f ~/work/scripts/.bash_aliases ]; then
. ~/work/scripts/.bash_aliases
fi

# enable programmable completion features (you don't need to enable
# this, if it's already enabled in /etc/bash.bashrc and /etc/profile
# sources /etc/bash.bashrc).
if ! shopt -oq posix; then
if [ -f /usr/share/bash-completion/bash_completion ]; then
. /usr/share/bash-completion/bash_completion
elif [ -f /etc/bash_completion ]; then
. /etc/bash_completion
fi
fi

export PATH=$PATH:/home/dev/.local/bin

if [ -f "$HOME/.cargo/env" ]; then . "$HOME/.cargo/env"; fi

21 changes: 21 additions & 0 deletions .devcontainer/scripts/gu
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#!/bin/bash

STATUS=$(git status)

TEST=$(echo $STATUS | awk '{print $NF}')

if [ "$TEST" != "clean" ]; then
git add .
git status
echo -n "Sure you want to commit and push? (y/n) "
read INPUT
if [ "$INPUT" = "y" ]; then
echo -n "Commit message: "
read INPUT
git commit -m "$INPUT"
git push
else
echo "cancelled"
fi
fi

5 changes: 5 additions & 0 deletions .gitignore
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Expand Up @@ -169,3 +169,8 @@ cython_debug/

# PyPI configuration file
.pypirc
h
.vscode

.ruff_cache

1 change: 1 addition & 0 deletions .python-version
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3.10
62 changes: 62 additions & 0 deletions Makefile
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# Since we are using uv to manage our dependencies, we can utilize the "uv run python ..."
# command which makes sure to launch the python script with the dependencies installed as
# defined by the pyproject.toml file. That makes it the single source of truth and we
# can generate a requirements.txt file from there.



# We always want to run lint checks before we build or test
lint:
@echo "Linting src and tests"
@uv run ruff check src tests

# This will generate a python package that can be published and installs it locally for
# testing. Note, that it installs it with the -e (editable) option which means that when
# changing any library files, you can immediately test them and don't have to re-install
# with 'uv build'. However if we want to publish, we must always build.
build: lint
@rm -rf dist/
@uv build
@uv pip compile pyproject.toml -o requirements.txt

# Add all test files into /tests they will all get run when this target is invoked
test: lint
@uv run pytest

# Open a python repl for quick debugging
repl:
uv run python


clean:
uv cache clean
rm -r .pytest_cache .ruff_cache .venv dist



# Set token: export UV_PUBLISH_TOKEN=(token)
# check token: echo $UV_PUBLISH_TOKEN

check-publish-token:
@if [ -z "$(UV_PUBLISH_TOKEN)" ]; then \
echo "Error: UV_PUBLISH_TOKEN environment variable is not set"; \
exit 1; \
else \
echo "UV_PUBLISH_TOKEN is set"; \
fi



publish-test: check-publish-token build
@echo "Publishing to test.pypi.org"
@uv publish dist/* --index testpypi


publish: check-publish-token build
@echo "Publishing to pypi.org"
@uv publish dist/* --index pypi


11 changes: 9 additions & 2 deletions README.md
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# roverlib-python
Building a service that runs on the rover? Then you'll need the roverlib. This is the variant for Python.
<h1 align="center"><code>roverlib-python</code> library</h1>
<div align="center">

<a href="https://ase.vu.nl/docs/category/roverlib-python">Documentation</a>
<br />
</div>
<br/>


43 changes: 43 additions & 0 deletions docs/00-usage.md
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# Usage

After installation, you can use roverlib as follows:

```python
#!/usr/bin/python3
import roverlib
import signal
import time
import roverlib.rovercom as rovercom

def run(service : roverlib.Service, configuration : roverlib.ServiceConfiguration):

# Unlike roverlib-go, these functions do not return an error object, but rather throw an error on failure
speed = configuration.GetFloatSafe("speed")

name = configuration.GetStringSafe("name")

write_stream : roverlib.WriteStream = service.GetWriteStream("motor_movement")

write_stream.Write(

rovercom.SensorOutput(
sensor_id=2,
timestamp=int(time.time() * 1000),
controller_output=rovercom.ControllerOutput(
steering_angle=float(1),
left_throttle=float(speed),
right_throttle=float(speed),
front_lights=False
),
)
)




def on_terminate(sig : signal):
logger.info("Terminating")


roverlib.Run(run, on_terminate)
```
19 changes: 19 additions & 0 deletions docs/01-development.md
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# For Developers

The name of the package is `roverlib` which is the same as the module that is then imported by end users (`pip install roverlib` and `import roverlib` to keep consistency).

The following directory structure aims to separate library code from testing code:
* `src/roverlib` - contains all source code of the library
* `tests/` - contains python files that will all be part of the testing process

This repository is self-contained and relies heavily on `uv` for dependency management and building packages. The most important commands are wrapped by Makefile targets:

* `make build` - builds the library to `dist/` and installs it locally for quick testing
* `make test` - runs all files in the `tests/` directory
* `make publish-test` - requires setting an external token with `export PUBLISH_TOKEN=pypi-abc...` and uploads to pypi's test
* `make publish` - requires setting an external token with `export PUBLISH_TOKEN=pypi-def...` and uploads to the official pypi index


Before running the `make publish*` targets, make sure to set the correct token depending on which index you are uploading to.


41 changes: 41 additions & 0 deletions pyproject.toml
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[project]
name = "roverlib"
version = "0.5.3"
description = "ASE roverlib"
readme = "README.md"
authors = [
{ name = "NielsD1", email = "n.j.dijkstra@student.vu.nl" },
{ name = "maxgallup", email = "m.gallup@student.vu.nl" },

]
requires-python = ">=3.10"
dependencies = ["pyzmq", "loguru", "betterproto"]

[project.urls]
"Repository" = "https://github.com/vu-ase/roverlib-python"
"Issues" = "https://github.com/vu-ase/roverlib-python/issues"

[build-system]
requires = ["hatchling"]
build-backend = "hatchling.build"

[dependency-groups]
dev = ["pytest>=8.3.4", "ruff>=0.9.7"]

# Tell pytest that all files in the /tests directory are tests
[tool.pytest.ini_options]
testpaths = ["tests"]
python_files = "tests/*.py"
python_functions = "test_*"
python_classes = "Test*"


[[tool.uv.index]]
name = "pypi"
url = "https://pypi.org/simple/"
publish-url = "https://upload.pypi.org/legacy/"

[[tool.uv.index]]
name = "testpypi"
url = "https://test.pypi.org/simple/"
publish-url = "https://test.pypi.org/legacy/"
22 changes: 22 additions & 0 deletions requirements.txt
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# This file was autogenerated by uv via the following command:
# uv pip compile pyproject.toml -o requirements.txt
betterproto==1.2.5
# via roverlib (pyproject.toml)
grpclib==0.4.7
# via betterproto
h2==4.2.0
# via grpclib
hpack==4.1.0
# via h2
hyperframe==6.1.0
# via h2
loguru==0.7.3
# via roverlib (pyproject.toml)
multidict==6.1.0
# via grpclib
pyzmq==26.2.1
# via roverlib (pyproject.toml)
stringcase==1.2.0
# via betterproto
typing-extensions==4.12.2
# via multidict
8 changes: 8 additions & 0 deletions src/roverlib/__init__.py
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from .index import Run
from .bootinfo import Service, service_from_dict
from .configuration import ServiceConfiguration
from .streams import ReadStream, WriteStream
import roverlib.rovercom as rovercom


__all__ = ["Run", "Service", "service_from_dict", "ServiceConfiguration", "ReadStream", "WriteStream", "rovercom"]
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